function [ points ] = collocationPoints( d )
if d == 2
  points = [0.33333333333333333333333333333333, 1.0];
elseif d == 3
  points = [0.15505102572168222296866701981344, 0.64494897427831787695140519645065, 1.0];
elseif d == 4
  points = [0.088587959512704206321842548277345, 0.4094668644407346569380479195388, 0.7876594617608470016989485884551, 1.0];
elseif d == 5
  points = [0.057104196114518224192124762339517, 0.27684301363812369167760607524542, 0.5835904323689168338162858162832, 0.86024013565621926247217743366491, 1.0];
else
  error('Only collocation order between 2 and 5 is supported.');
end